ReshapeCovariance:

Path: SpacecraftEstimation/OrbitEstimation

% Reshape a covariance matrix from square to a column and back. 
   The covariance matrix is reshaped as

   [p11 p12 p13]
   [p21 p22 p23]
   [p31 p32 p33]

   to

   [p11 p12 p13 p22 p23 p33]'

   and back. Notice that the diagonals appear only once.
   
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   Form:
   pR = ReshapeCovariance( p )
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   ------
   Inputs
   ------
   p            (:,:) The covariance matrix (n,n) or (m,1)

   -------
   Outputs
   -------
   pR           (:,:) The covariance matrix (n,n) or (m,1)

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